Control System Design and implementation of a Quadrotor Unmanned Aerial Vehicle

摘要：

　　In this paper,a method of embedded system with multi-processor is proposed,so as to satisfy the requirement of strong real-time property,high computational performance and multi-task function of the flight control system.In addition,in order to solve the problems of unknown aerodynamic disturbance and weight uncertainties during flight,a hybrid control method based on sliding mode control (SMC) and model referenced adaptive control (MRAC) is proposed.Through the Lyapunov stability analysis,its proved that the controller is stable.Various simulations were performed and several experiments on the quadrotor UAV validate the control strategies.

关键词： Quadrotor UAV Embedded System Hybrid control Multi-processor

作者: Dexin Xu Guangchun Li Lu Wang

作者单位: College of Automation,Harbin Engineering University,Harbin,China

会议类型: 国际会议

会议名称: 2012 International Conference on Intelligent System and Applied Material(2012智能系统与应用材料国际会议)(GSAM2012)

会议地点: 太原

会议语种:英文

页码: 749-753

在线出版日期: 2012-01-13（万方平台首次上网日期，不代表论文的发表时间）